Robotic training systems and methods

ABSTRACT

A robotic athletic training system may include a mobile robotic platform, a sensor module associated with the mobile robotic platform and configured to obtain data from an environment. The system may include a drive system that propels the platform, as well as a steering system that steers the platform. The system may include a processor which receives data from the sensor module and control the drive system or steering system to follow a path based on the data received from the sensor module. A method may include controlling a robotic athletic training system (or robotic training platform) so that it moves at a velocity. The robotic athletic training system may include a vision system configured to receive data related to a surface and compare a baseline data of a desired surface to the received data and adjusting a travel direction of the robotic system in response to the comparison.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.15/277,657, filed Sep. 27, 2016, which is incorporated herein in itsentirety by reference thereto.

FIELD OF THE INVENTION

Embodiments of the present invention generally relate to systems andmethods for using robotics to assist an individual in improving aworkout. More particularly, robotic systems and methods may be used ascoaching tools, guides, and/or pace setting systems.

BACKGROUND OF THE INVENTION

Athletic activity is important to maintaining a healthy lifestyle and isa source of entertainment for many people.

Individuals engaged in athletic activities have sought aids to help withpacing and coaching during running workouts. Typical methods includerunning on circular tracks of known lengths and employing a stop watchto record intervals or calculate speed. When a running event, such as arace, requires assistance to set a particular pace, other runners may beenlisted to aid in the effort and maintain a consistent pace. In a raceenvironment these runners may be called “rabbits” and are often paid torun only a portion of the race to ensure a fast opening pace.

In more recent years runners have employed additional tools in an effortto assist in tracking and coaching workouts. For example, GPS andaccelerometer based devices may be used to provide speed and distanceinformation. Fitness monitoring devices have also been developed thatare capable of recording information about an individual's performanceduring an athletic activity using sensors, and in some cases providingfeedback about the individual's performance. Some fitness monitoringdevices employ sensors attached to the individual's body, while otherfitness monitoring devices rely on sensors attached to a piece ofathletic equipment. Such sensors may be capable of measuring variousphysical and/or physiological parameters associated with theindividual's physical activity.

An individual engaged in an athletic activity—or an interested observersuch as a coach or fan—may desire to receive information about theathletic activity, including information about the individual'sperformance. But with respect to providing this information, existingathletic/fitness activity monitoring, training, and coaching systemssuffer from a number of drawbacks. Many existing systems are limited inthe amount of feedback or coaching that they can give. Other systems mayprovide coaching feedback during the activity, but in a way thatdistracts that individual or interested observer from focusing on theongoing athletic activity itself And many existing systems do notprovide physical targets for individuals to react to, or an adequatesubstitute for a training partner. These systems are not suitable formonitoring in many real world athletic competitive or training sessions.Finally, existing athletic activity monitoring, training, and coachingsystems often fail to provide the individual or interested observer withquick, accurate, insightful information that would enable them to easilycompare past performances, develop strategies for improving futureperformances, or visualize performances.

BRIEF SUMMARY OF THE INVENTION

What is needed are athletic activity training, and coaching, systems andmethods having improved capabilities over existing systems, thusoffering individuals engaged in athletic activities and other interestedobservers better tools to improve their performance through coachingfeedback. At least some of the embodiments of the present inventionsatisfy the above needs and provide further related advantages as willbe made apparent by the description that follows.

Embodiments of the present invention relate to a robotic trainingsystem, for example, an athletic training system for assisting anindividual during an athletic activity in an environment. The system mayinclude a mobile robotic platform, a sensor module including an array ofoptical sensors coupled to the mobile robotic platform and configured toobtain sensor data from the environment, a drive system configured topropel the mobile robotic platform, a steering system configured tosteer the mobile robotic platform, and a processor. The processor may beconfigured to receive the sensor data from the sensor module,characterize the sensor data into one of edge data, color data,saturation data, threshold data, or keypoint data, and to control one ofthe drive system and the steering system to follow a path based on thecharacterized data. The sensor data comprises data related to variationof a surface of the environment.

Embodiments of the present invention also relate to a robotic trainingsystem, for example, an athletic training system for assisting anindividual during an athletic activity in an environment. The system mayinclude a mobile robotic platform, a sensor module including an array ofsensors coupled to the mobile robotic platform and configured to obtaindata from the environment, a drive system configured to propel themobile robotic platform, a steering system configured to steer themobile robotic platform, and a processor. The processor may beconfigured to receive the data from the sensor module and to control oneof the drive system and the steering system to follow a path based onthe data. The data may include data related to variation of a surface ofthe environment.

Embodiments of the present invention also relate to a method of trainingan individual, for example, assisting an individual during an athleticactivity in an environment using a robotic athletic training system. Themethod may include controlling the robotic athletic training system witha processor of the robotic athletic training system to move the roboticathletic training system at a velocity, receiving data related to asurface of the environment over which the robotic athletic trainingsystem moves and on which the individual conducts their athleticactivity with a vision system of the robotic athletic training system,comparing baseline possible surface characteristic data to the receivedsurface data with the processor of the robotic athletic training system,and adjusting a travel direction of the robotic athletic training systemin response to the comparison.

Additional features of embodiments of the invention will be set forth inthe description that follows, and in part will be apparent from thedescription, or may be learned by practice of the invention. Both theforegoing general description and the following detailed description areexemplary and explanatory and are intended to provide furtherexplanation of the invention as claimed.

BRIEF DESCRIPTION OF THE DRAWINGS/FIGURES

The accompanying figures, which are incorporated herein, form part ofthe specification and illustrate embodiments of the present invention.Together with the description, the figures further serve to explain theprinciples of and to enable a person skilled in the relevant arts tomake and use the invention.

FIG. 1 is an illustration of an individual using a robotic trainingsystem according to an embodiment of the present invention.

FIGS. 2-3 are illustrations of selected robotic training systemsaccording to embodiments of the present invention.

FIG. 4 is an enlarged view of a sensor array according to an embodimentof the present invention.

FIG. 5 is a diagram of a sensor module interacting with one of anelectronic device, a standalone device, a network, and a serveraccording to an embodiment of the present invention.

FIG. 6 is a conceptual diagram of a software platform and softwaremodules, according to an embodiment of the present invention.

FIG. 7 is a diagram of a sensor module according to an embodiment of thepresent invention.

FIG. 8 is a diagram of an electronic device according to an embodimentof the present invention.

FIG. 9 is a flowchart of a method of assisting an individual during anathletic activity in an environment using a robotic athletic trainingsystem according to an embodiment of the present invention.

FIG. 10 is a flowchart of a method of assisting an individual during anathletic activity in an environment using a robotic athletic trainingsystem according to an embodiment of the present invention

FIG. 11 is a flowchart of a method of assisting an individual during anathletic activity in an environment using a robotic athletic trainingsystem according to an embodiment of the present invention

DETAILED DESCRIPTION OF THE INVENTION

The present invention will now be described in detail with reference toembodiments thereof as illustrated in the accompanying drawings.References to “one embodiment”, “an embodiment”, “an exampleembodiment”, “some embodiments”, etc., indicate that the embodimentdescribed may include a particular feature, structure, orcharacteristic, but every embodiment may not necessarily include theparticular feature, structure, or characteristic. Moreover, such phrasesare not necessarily referring to the same embodiment. Further, when aparticular feature, structure, or characteristic is described inconnection with an embodiment, it is submitted that it is within theknowledge of one skilled in the art to affect such feature, structure,or characteristic in connection with other embodiments whether or notexplicitly described.

The term “invention” or “present invention” as used herein is anon-limiting term and is not intended to refer to any single embodimentof the particular invention but encompasses all possible embodiments asdescribed in the application.

Various aspects of the present invention, or any parts or functionsthereof, may be implemented using hardware, software, firmware,non-transitory tangible computer readable or computer usable storagemedia having instructions stored thereon, or a combination thereof, andmay be implemented in one or more computer systems or other processingsystems.

The methods and systems discussed above are further described below. Thefigures below may apply to both the method and system embodiments of theinvention.

In general, in some embodiments, systems and methods are provided toenhance athletic training. The robotic platforms described herein may beautonomous or semi-autonomous small-scale vehicles. The systems andmethods may, for example, follow the lanes of a running track, and maybe used as a virtual coach by providing audio, visual display and hapticfeedback to runners and can instruct them to speed up or slow down tomeet a specific goal of the run. Additionally, they may be used to setpacing for a runner, coach an individual through different workoutintervals, collect athletic data, and record video for gait and/ortechnique analysis.

Advantageously, as opposed to audio or video simulations, the robotictraining systems and methods may give runners a tangible target to focustheir workouts. This may advantageously improve the quality of feedback,for example, by having the robotic training system graduallyaccelerate/decelerate. This is in contrast to coaching being given asdiscrete, separate steps, in order to avoid over instructing theindividual (e.g., change pace to 8 minutes per mile, prepare to run a 30second interval at maximum speed, etc.). Additionally, rather thantelling the individual to accelerate to a certain pace or zone, therobotic training system may simply show them the pace through itsmotion. In some embodiments, robotic training system may adjust to theindividual's ability (e.g., if the individual can't keep up the robotictraining system may adjust the pace or direction). Advantageously, theindividual engaged in athletic activity is able to keep their eyesfocused on the robotic training system in front of them instead havingto look down at a wrist band, phone, etc., which could dangerouslydivert their eyes from the route in front of them. Additionally, beingable to focus generally in front of the individual, rather than raisingan arm or looking down, avoids introducing inefficient body positioningor form into the athletic activity.

In addition, the robotic training system may provide for more granulartraining/coaching. For example, the robotic training system may changevelocity at a more frequent interval, e.g., by speeding up or slowingdown gradually and having an individual follow the pace.Disadvantageously, other coaching methods attempting to verballyinstruct an individual through granular or widely varying velocity riskover-coaching and overwhelming the individual.

Substantially real time feedback may also be provided by the robotictraining system. GPS and accelerometer systems may include lags inreporting changes of speed. In contrast, the robotic training systemembodiments of the present invention may instead utilize on board speedsensors (e.g., rotational speed sensors) and may use, for example,visual sensors focused on the individual in combination with the robotictraining system's speed to adjust the operation of the system.

As shown in FIGS. 1-4, in some embodiments, robotic training system 10may include a mobile robotic platform 100, a sensor module 102, a drivesystem 104 configured to propel mobile robotic platform 100, a steeringsystem 106 configured to steer the mobile robotic platform 100, and aprocessor 110. Processor 110 may be configured to receive data (e.g.,sensor data) from the sensor module and control the drive system 104 orsteering system 106 to follow a predetermined path based on the datareceived from the sensor module 102. Robotic platform 100 may include aframe, housing, etc., that may support or house various components ofsystem 10.

In some embodiments, a predetermined path may be, for example, anathletic track 300, or a paint or chalk line 302 denoting a lane ontrack 300, as shown in FIGS. 2 and 3. In some embodiments, sensor module102 may be associated with mobile robotic platform 100 and configured toobtain data from an environment.

In some embodiments, sensor module 102 may include an array of sensors108, as shown, for example, in FIG. 4. In some embodiments, the sensors108 may obtain data related to variation of a surface, such as anathletic track. In some embodiments, sensors 108 may be positioned in agenerally linear arrangement, such that sensors are parallel to oneanother and the direction of a linear axis about which the sensors arealigned extends is generally perpendicular to the sensed portion of thepaint/chalk line 302 during use. In other embodiments, the sensor arraymay be arranged in a “V” formation as with a group of migratory birds,or in a curved arrangement. In some embodiments, the sensors of thearray may be arranged in an offset fashion where they are not parallelto one another.

The sensed surface variation data may be optical data, for example, datarelated to the relative position or composition of the paint or chalkline denoting a line on track 300. In some embodiments, the sensed data(e.g., optical data) may be characterized and/or quantified to identifycertain features, such as edge data, color data, saturation data,threshold data, keypoint data, and the like. In some embodiments, thesefeatures may be configured to control the drive or steering systems104/106. In some embodiments, the sensors transmit data to processor110, with the processor being further configured to adjust the drivesystem 104 or steering system 106 based on the data. For example, insome embodiments the sensor array may include an array of sensors (e.g.,infrared or “IR” sensors, photo-sensitive systems, CCD, CMOS, etc.), andtransmit data related to which sensor is positioned over the paint orchalk line 302 denoting a lane on a track 300. Paint of chalk linecomposition, line edge relative angles, or other features may bedetected. Speed or direction adjustments of the drive system 104 orsteering system 106 may vary according to how many sensors sense thepresence of the line, frequency of the frame rate, resolution of thecaptured data, or the relative angle of the edge of the line withrespect to one or more sensors, for example. In some embodiments, speedor direction adjustments may vary according to the location of thesensor along the array that senses the presence of the line. In someembodiments, speed or direction adjustments may vary according to apredetermined threshold of time a particular sensor senses the presenceof the line. In some embodiments, sensor position, time, or number ofsensors sensing the presence of the line may vary the speed and/ordirection.

Existing athletic training systems lacking tangible targets—or systemsthat rely on tangible targets that unable to accurately sense tracksurface conditions and respond accordingly—disadvantageously may notprovide a suitable level of natural, smooth feedback and coaching to theindividual. In contrast, the robotic training system 10 of the presentinvention employing embodiments of sensor module 102 may providenatural, smooth feedback and coaching based on real world track surfaceconditions.

In some embodiments drive system 104 and/or steering system 106 may be,for example a wheeled system. In some embodiments, these systems may bea track system, an aerial propulsion system, a magnetic propulsionsystem, a rail system, a robotic leg system, or other suitable drivesystem. In some embodiments, the drive system 104 and steering system106 may be autonomous, or semi-autonomous. Autonomous or semi-autonomoussystems may have advantages over known systems that rely on significantuser or coach input or control, which may be more cumbersome to controland may limit their use. In some embodiments, robotic platform 100 mayinclude a frame configured to support athletic equipment or supplies(e.g., used as a type of robotic “pack mule”). For example, someembodiments may be specifically configured to carry and/or dispensewater, food, or first aid equipment.

In some embodiments, additional sensor modules 102 may be employed,either physically integrated with robotic platform 100 or separate fromrobotic platform. In some embodiments, sensor modules 102 may includeadditional sensors 148, for example, physiological sensors or the like.

In some embodiments, system 10 may be partially or wholly solar powered,which may advantageously extend the range of the device of limit theneed for frequent charging or battery replacement.

In some embodiments, system 10 may further include a wirelesstransceiver 112 in communication with an electronic device 400associated with an individual 500. In an embodiment, the electronicdevice 400 may be, for example, a smart phone, a smart watch, aheads-up-display device, other smart apparel, a tablet, or any othertype of suitable mobile computing device. In some embodiments,transceiver 112 may receive data (e.g., electronic device data, or inputdata) from electronic device 400, transmitting that data to processor110. In some embodiments, processor 110 adjusts the drive system 104 orsteering system 106 based on the data received from electronic device400. In some embodiments, the transceiver 112 receives data includingprogrammed instructions to control the drive and steering systems104/106 according to a workout program. In this way, embodimentsincluding a communication with an electronic device 400 mayadvantageously allow for a higher level of accuracy or customization inthe performance of the robotic training system 10. In some embodiments,electronic device 400 may function as a sensor module 102.

In some embodiments, these programs could include instructions toprovide coaching feedback to individual 500 during a workout, forexample, a training run. In some embodiments, individual 500 may receivecoaching instruction, for example, or encouragement. In some embodimentsthese programs may include a simulated race, where robotic platform 100may be programmed with prior race data such that it moves according to arace pace and individual 500 may attempt to beat the platform. In someembodiments, these programs may include world record data, such thatindividuals 500 may “compete” against current world records. Transceiver112 may be integral with robotic platform 100, or may be a separateunit. Additional details of the software platform and modules related tosuch programs along with programs and functions of the components arefurther discussed herein.

Transceiver 112 may allow sensor module 102 to communicate, for example,with other locally or remotely located robotic platforms 100, or otherstandalone devices 600, via network 602, or server 604, for example, asshown in FIG. 5. Communication between these components may be one waycommunication or two way communication.

In some embodiments, system 10 may include a user interface configuredto receive input data and transmit the data to processor 110 which mayadjust the drive or steering systems 104/106 based on the input data. Insome embodiments, the user interface may be displayed on electronicdevice 400, for example, or may be integrated directly into roboticplatform 100.

As shown in FIGS. 1-3, for example, in some embodiments, system 10 mayinclude a video camera 114. Video camera 114 may be configured to recordan individual during training, for example. In some embodiments, videocamera 114 may transmit video data to processor 110. In someembodiments, processor 110 is configured to analyze physiologicalcharacteristics of the individual (e.g., analyze gait or foot strikecharacteristics, analyze other running form characteristics, recognizeonset of fatigue, recognize perspiration levels, etc.). In someembodiments, video camera 114 may be configured to record the surface anindividual is running on, for example, or capture video of environmentalsurroundings. In some embodiments, processor 110 may analyze, forexample, gait characteristics such as foot strike type (e.g. heel,midfoot, forefoot, etc.), rate of pronation or supination, and degree ofpronation and supination. In other embodiments, video camera 114 may beconfigured to record the path ahead of the individual during training soas to record a first person-style view of the route traversed by therobotic training system 10 and the individual. In other embodiments, thevideo camera 114 may pan around the environment to record video ofcompetitors, spectators, or other items of interest. The panning may beautonomous or controlled by the individual or a third party such as acoach.

In some embodiments, additional robotic platforms 100 may be able tointeract with one another based on sensor feedback. For example, in someembodiments, a land based robotic platform 100 may carry out trainingfeedback functions to the individual 500, while an aerial based roboticplatform 100 may include video camera 114 and carry out aforementionedvideo functions, based upon position of the land based robotic platform100 or individual 500, for example.

In some embodiments, system 10 may include an audio feedback system 116.In some embodiments, audio feedback system 116 is configured to provideinformation about a workout to an individual during the workout. In someembodiments, audio feedback system 116 may provide audio coaching, forexample to alert individual 500 to a change in the workout, toaccelerate/decelerate, alert individual 500 of other individualsapproaching, or to alert of other robotic platforms 100 (e.g., to urgeslower runners to move to the right). Combined audio and visual feedbackmay enhance the coaching of an individual, as it more closely replicatesone-on-one coaching between individuals, rather than an individualfollowing only audio prompts. In some embodiments, audio feedback system116 may be configured to allow, for example, one-on-one coachingfeedback from an individual's coach, in addition to feedback from thesystem 10.

In some embodiments, system 10 may include a display system 118. Displaysystem 118 may be, for example, a projector, display screen, lasersystem, holographic display, paint/chalk display system, or the like. Insome embodiments, display system 118 is configured to provideinformation about a workout to an individual during the workout or otherinformation or visual cues (e.g., display image on track or body ofrobotic platform 100, display a line to follow, follow distance, orworkout details). In some embodiments, display system 118 may displayvisual cues, such as time remaining, current speed, number of laps, etc.In some embodiments, display system 118 may allow for video callingother individuals (e.g., friends or competitors). In some embodiments,display system 118 may include a heads up display (HUD), for example, ona helmet, or electronic eyeglasses. In some embodiments, the displaysystem 118 may project information or images on the surface of the trackahead of the individual and/or ahead of the robotic training system 10,which may advantageously allow the individual to visual receiveinformation without having to divert their field of view of otherwisebreak their form to view a display on a smartphone, smart watch, orother portable display. In some embodiments, a display mounted on therobotic training system 10 itself may provide a similar benefit.

In some embodiments, system 10 may include an audio input system 120.Audio input system 120 may be configured to accept audio data andtransmit the data to the processor to control system 10. In someembodiments, audio input system 120 may function as a voicecontrol/recognition system, and accept information such as individual500 speaking commands to speed up or slow down, provide navigation,place an emergency call, place a call to a coach or trainer, place avideo call to other individuals (e.g., friends or competitors), or postan update on a social media platform.

Some embodiments are directed to a method of training includinginitiating programming data such that a robotic training system moves ata predetermined velocity, wherein the robotic training system includes avision system configured to receive data related to a surface, receivingdata related to a surface, comparing a baseline data of a desiredsurface to the received data, and adjusting a travel direction of therobotic system in response to the comparison. In some embodiments, thedata received related to a surface is optical data indicating theposition of a line on a track. Existing systems often do not account forsurface variation (e.g., if an individual begins running on a track buttransitions to a grass field). In contrast, embodiments of the presentinvention may provide variation in coaching feedback depending upon thesurface upon which the athletic activity is performed (e.g., a field,artificial turf, track, sidewalk, etc.).

Turning to an exemplary method 2000 shown in FIG. 9, at step 2002, themethod may include controlling a robotic athletic training system with aprocessor of the robotic athletic training system to move the roboticathletic training system at a velocity. The method may then includereceiving data related to a surface of the environment over which therobotic athletic training system moves and on which the individualconducts their athletic activity with a vision system of the roboticathletic training system at step 2004, comparing baseline possiblesurface characteristic data to the received data related to the surfaceof the environment with the processor of the robotic athletic trainingsystem at step 2006, and adjusting a travel direction of the roboticathletic training system in response to the comparison at step 2008.

Exemplary method 2100 shown at FIG. 10 may include each of the stepsshown in method 2000. Further, the method may include the robotictraining system providing coaching feedback to the individual during theathletic activity at step 2010.

Exemplary method 2200 shown at FIG. 11 may include each of the stepsshown in methods 2000 and 2100. Additionally, the method may includereceiving physiological sensor data at the robotic athletic trainingsystem about the individual from a sensor module coupled to theindividual during the athletic activity at step 2012, comparing baselinepossible surface characteristic data to the received data related to thesurface of the environment with the processor of the robotic athletictraining system at step 2014, and adjusting the velocity of the roboticathletic training system in response to the physiological datacomparison at step 2016. Additionally, each of the methods may includean optional feedback loop from either step back to any previous step.

It should be understood that the order of the operations listed above isexemplary. The order of the operations may be rearranged and someoperations may be omitted.

In some embodiments, the method further includes receiving physiologicalsensor data at a robotic training system 10 about an individual 500 froma sensor module associated with the individual 500 during an athleticactivity engaged in by the individual. In some embodiments, the methodincludes comparing the physiological sensor data received to baselinephysiological data using a processor (for example processor 110), andadjusting the programming data based on the comparison such that thevelocity (or direction) of the robotic training system is adjusted. Insome embodiments, the method further includes receiving personalinformation about the individual prior to receiving the physiologicaldata. In some embodiments the personal information includes one of priorinjury information, height, weight, gender, an athletic goal, intendedathletic environment, intended athletic duration, intended workoutintensity.

The system or method may include receiving data about the individualfrom a sensor module associated with the individual during a firstathletic activity engaged in by the individual. The method may alsoinclude receiving data about the individual from the sensor moduleassociated with the individual during a second athletic activity engagedin by the individual, and determining a second characteristic based onthe data related to the second athletic activity. The method may alsoinclude comparing the data received during the first/second athleticactivities; and providing a recommendation about a workout.

In some embodiments, the first and second data received may includephysiological characteristics (e.g. respiratory or cardiac data). Insome embodiments, the method may determine whether a characteristic ofthe second data represents an improvement over the first data. In someembodiments, the method may include receiving data (e.g., motion data,physiological data, etc.) via local wired or wireless connection, or viaa wide area network. In some embodiments, the method may includemonitoring the motion of an individual in substantially real-time duringan athletic activity. In some embodiments, a sensor module 102 may beprovided and configured to obtain data relating to a physiologicalparameter of the individual 500 during an athletic activity.

The systems and methods may be effected through software platform 1000(which may be included in system 10), containing software modules, asshown in FIG. 6, for example. In some embodiments, fewer modules may beincluded, or additional modules may be included. In some embodiments,modules may be removed or added, for example through a networkconnection. Programming data may include software platform 1000, forexample, as shown in FIG. 6, and include various modules. Each of thecomponents in sensor module 102, for example, or electronic device 400,may feed the modules data that the modules use to formulate a response.In some embodiments programming data includes simulated race data suchthat the robotic training system moves at a race pace. In someembodiments, the programming data includes feedback data such that therobotic training system provides coaching feedback to an individualduring a workout. In other embodiments, the systems and methods may beeffected through software platform 1000 in an electronic device 400 inaddition to or instead of in system 10.

As shown in FIG. 6, software platform 1000 may include highlight reelmodule 1100, including programming to capture video data from videocamera 114 and compose a video montage or highlight reel.

In some embodiments, software platform 1000 may include a statisticsmodule 1102. Statistics module 1102 may be programmed to displayrelevant statistics regarding the workout such as distance, time, pace,heart rate, physiological data, etc. In some embodiments, statisticsmodule 1102 may function as a workout coach, by providing instructionsor feedback through display system 118 or audio feedback system 116. Insome embodiments, statistics module 1102 may include a lap counter, forexample, in order allow an individual to run accurate distances in anylane.

In some embodiments, software platform 1000 may include a proximityawareness module 1104. Proximity awareness module 1104 may useadditional sensor data (or data from sensor module 102) to guide roboticplatform 100 around obstacles, for example, or to maintain a safedistance from an individual 500 using system 10. In some embodiments,proximity awareness module 1104 may notify an individual running ofother runners near the individual, or aware of other competitor's statusin a race event, for example. In some embodiments, proximity awarenessmodule 1104 may optimize a route, for example, accounting for particularsurfaces or geography, or may analyze a route taken by an individual(e.g., how an individual approaches corners, etc.). In some embodiments,proximity awareness module 1104 may communicate with other roboticplatforms 100. In some embodiments, proximity awareness module 1104 mayinclude, for example a radar system or ultrasonic system with radarsensors or ultrasonic sensors.

In some embodiments, software platform 1000 may include a strategymodule 1106. Strategy module 1106 may include instructions to coach anindividual for particular conditions (e.g., coaching a runner to slowdown while traveling uphill or into headwind and accelerate for downhillor tailwind). Strategy module 1106 may use data from sensor module 102,for example vision sensor data, or additional sensor data, such asproximity sensor data. In some embodiments, strategy module may coachthe individual to adjust their performance, for example adjusting theirgait, stride, or posture for different terrain (e.g., going uphill ordownhill). In some embodiments, data from video camera 114 may be usedas an input to strategy module 1106 and coaching may be dependent uponvideo data analysis (e.g., fatigue or gait analysis).

In some embodiments, software platform 1000 may include a safety module1108. Safety module may, for example, coach an individual running toslow down when approaching uneven or dangerous surface conditions, orwhen physiological data reaches unsafe levels. In some embodiments,safety module may control driving or steering system 104/106 to avoidobstacles or brake if communication or other signals are lost or areabnormal. In some embodiments, safety module may leave individual 500and dial an emergency number if cellular coverage is unavailable. Insome embodiments, safety module 1108 may utilize data from sensor module102 to maintain a predetermined position around individual 500, forexample ahead, behind, or beside individual 500. In some embodiments,safety module 1108 calculates an acceptable radius from individual 500and adjusts based upon the path taken by individual 500. In someembodiments, safety module 1108 may for example, pick up litter after arace along a race path.

In some embodiments, software platform 1000 may include a Fuel/Hydratemodule 1110. Fuel/Hydrate module 1110 may utilize workout data, datafrom sensor module 102, etc., to coach individual 500 on proper food andwater intake during a workout. In some embodiments, robotic platform1000 may include on board fluid and food to provide to individual 500.In some embodiments, Fuel/Hydrate module 1110 may include a mistfunction, for example, if it is hot outside, or if individual 500reaches a predetermined temperature as measured by sensor module 102.

In some embodiments, software platform 1000 includes Charge module 1112.Charge module 1112 may provide an energy source for long races to chargea phone, for example as electronic device 400. Charge module 1112 mayactivate, for example, Bluetooth charging when electronic device 400charge level falls below a predetermined threshold. In this regard,charge module 1112 may provide additional energy to allow for longertraining or running sessions of individual 500.

In some embodiments, software platform 1000 includes a Guide module1114. Guide module 1114 may utilize audio feedback system 116, forexample, to serve as a guide for a blind individual 500. In someembodiments, guide module 1114 may travel ahead of individual 500 and“scout” the area, for example. In some embodiments, guide module 1114may include a light, for example, an LED light that may be configured toturn on if the environment sensed by sensor module 102 drops below apredetermined light level threshold.

In some embodiments, software platform 1000 includes a Babysitter module1116. Babysitter module 1116 may configure robotic platform such that itautonomously “walks” an individual's 500 baby around a predeterminedpath (e.g., around the block). In some embodiments, babysitter modulemay “walk” an individual's canine companion. In some embodiments,babysitter module 1116 may stream video data from video camera 114 toelectronic device 400 for monitoring by individual 500.

In some embodiments, software platform 1000 includes a light module 1118that may activate a light on robotic platform 100 to illuminate a pathfor individual to follow.

In some embodiments, software platform 1000 includes vision module 1120.Vision module 1120 may, for example, utilize video camera 114, or sensorarray 108, or additional sensors 148 to achieve computer vision forsystem 10. In some embodiments, vision module 1120 may be a sub-moduleof other modules.

In some embodiments, software platform 1000 may include a Fetch module1124. Fetch module 1124 may communicate with sensor module 102, and beconfigured to find and retrieve athletic equipment, for example, soccerballs, or golf balls.

In some embodiments, software platform 1000 includes a weather module1126. Weather module 1126 may communicate with sensor module 102, forexample, and record/report wind speed, temperature, humidity, etc. Thisdata may be fed back into other modules, for example, to adjust workoutsof individual based on weather information.

In some embodiments, software platform 1000 includes referee module1128. Referee module 1128 may communicate with athletic equipment, forexample soccer balls and the like. In some embodiments sensor module 102may determine whether a soccer ball is out of bounds for example, ortravels past a goal line.

In some embodiments, software platform 1000 includes skills module 1130.Skills module 1130 may configure robotic platform 100 to performathletic maneuvers, for example, “kicking” soccer balls forgoalie/player training. In some embodiments, robotic platform 100 may beconfigured to travel in random or pseudorandom patterns, and haveindividual 500 follow it. Skills module 1130 may include a simulatedrace mode, such that individual 500 may attempt to follow the roboticplatform 100 as it leads them through a simulated race. In someembodiments, skills module 1130 may include a World Record mode. In theworld record mode, the robotic platform 100 may lead individual 500 at aworld record pace for a particular distance. In some embodiments, worldrecord mode may configure robotic platform 100 to “replay” world recordor personal record performances so the runner can attempt to “hang on”as long as possible. For example, drive system 104 may accelerate anddecelerate at a specific pace, e.g., the acceleration at the start andthe “kick” at the end of the race, for example.

In some embodiments, software platform 100 includes team module 1132.Team module 1132 may provide feedback to multiple individuals 500, orcoordinate movement between.

In some embodiments, software platform 1000 includes a social module1134, for example, to integrate with social networking platforms, orother communication systems such that an individual may stream video oftheir workout. For example, social module 1134 may enable individual 500to video chat with other individuals engaged in a workout. In someembodiments, social module 1134 may allow for friends, family, or fansof an individual engaged in a workout to communicate with theindividual, for example to cheer them on (e.g., transmit a song designedto encourage or “pump up” individual 500, or phone a friend whenindividual 500 is fatigued). In some embodiments, social module 1134 mayinclude communicating to a communication hub for services, (e.g., suchas “OnStar”).

In some embodiments, the individual 500 may use robotic training system10 to carry out the methods and systems of the present invention. Insome embodiments, the individual 500 may use an electronic device 400 tocarry out the methods and systems of the present invention.

After launching the application software (e.g., software platform 1000),the individual 500 may cause different GUI pages to be provided bydifferent modules by selecting their corresponding icons using userinput controls. Additional icons corresponding to sub-modules or programwizards associated with a particular module may pop up or otherwise bedisplayed to the individual 500 if the individual 500 selects, swipes,or hovers over a module icon with a cursor.

In some embodiments there may be an educational section. In someembodiments this may include information general to health and fitness,or more specialized information, such as information about running or aparticular athletic activity.

In some embodiments, the system may archive individual 500 informationin an acceptable way to allow for more storage room on the electronicdevice 400 or sensor module 102. Archival may include hard drive storageon site, cloud based storage, server storage, or any other acceptablestorage medium.

Examples of athletic goals may include training for a race, or othersporting event, improving individual fitness, simply enjoy running, orthe like. Frequency intervals may include for example about 1-2 timesper week, about 3-4 times per week, about 5-7 times per week, or theindividual doesn't know. Length intervals may include for example aboutless than about 5 miles per week, about 5-10 miles per week, about 10-20miles per week, greater than about 20 miles per week, or the individualdoesn't know. Examples of intended athletic terrain environments mayinclude roads, track, treadmill, trail, gym, or particular athleticfields designed for a specific sport. These features may be integratedinto software platform 1000 and used to control robotic training system10.

All modules may have one or more sub-modules which may be navigated toand from by clicking, swiping, etc. In some embodiments, the system mayallow the individual 500 one of upload photos, videos, medical records,and the like for incorporation into the robotic training system andmethods.

Pairing is a process used in computer networking that helps set up aninitial linkage between computing devices to allow communicationsbetween them. Pairing may occur wirelessly via a personal area networkor local area network using, for example, the Bluetooth wirelessprotocols. The software platform 1000 may prompt the individual 500 topair their electronic device 400 (or other sensors) to a sensor module102, and may display updates to the individual 500 as to the status ofthe pairing.

Sensor modules 102 may have a generic registration name in the systemthat identifies the sensor module as part of the system 10. Once paired,sensor modules may be identified by the name of the individual usingthat sensor module. For example a sensor might be registered as RSS0005as a generic identification name, and the broadcast signal would includethis name. Once paired that sensor module may change the broadcastsignal to include a name corresponding to the particular individualusing that sensor module, such as NAME01 or NAME02. Once the sensormodules 102 are paired, registration data and personal informationcollected from the individual 500 may be loaded onto the sensor modules.

In some embodiments, the system 10 or method may include identifyingwhether a performance goal has been met. In some embodiments, the methodmay include receiving personal information about the individual prior toreceiving the data about the individual. The personal information mayinclude information such as their name, prior injury information,height, weight, gender, shoe size, an athletic goal, intended athleticenvironment or terrain, intended athletic activity duration, intendedathletic activity frequency, intended athletic activity distance,quantitative or qualitative preferences about athletic equipment orfootwear (such as level of cushion, preference of weight, materials andthe like), and current athletic footwear.

In other embodiments, the method may include creating an account for theindividual. This account may include obtaining personal information fromthe individual. The method may include receiving motion data related tothe individual from a sensor module associated with the individual whilethe individual is engaged in an athletic activity, or other datareceived from robotic platform 100 and associated sensor modules 102. Insome embodiments, the method may include storing the personalinformation, and characteristics in association with the account for theindividual.

In some embodiments, the electronic device 400 may be for example one ofa desktop computer, a PDA device, MP3 player, an electronic watch havinga sports operating mode, a workstation, mobile device (e.g., a mobilephone, personal digital assistant, tablet computer, or laptop),computer, server, compute cluster, server farm, game console, set-topbox, kiosk, embedded system, a gym machine, dedicated electronic device,game console controller. In some embodiments, electronic device 400 mayinclude at least one processor and memory.

Robotic training system 10 according to embodiments of the presentinvention may be suitable for use by individuals 500 for individualathletic activities may be suitable for use by individuals 500 engagedin athletic activities such running or walking.

In some embodiments of the present invention, the robotic trainingsystem 10 may also include or interact with robotic training systemsoftware platform 1000. Interface aspects of the robotic training systemor robotic training system software could be, for example, presented toan individual 500 via a screen on the individual's 500 electronic device400. In some embodiments, software platform 1000 may be remotely hosted,for example, on a server. In some embodiments, an individual maydownload software platform 1000 or various modules to a memory, forexample, a flash drive, which may be coupled to the robotic trainingsystem 10 to program the robotic platform 100.

In some embodiments, additional sensors 148 may be utilized, for exampleadditional physiological sensors integrated within an existing piece ofathletic activity monitoring equipment such as, for example, a heartrate monitoring device, a pedometer, and accelerometer-based monitoringdevice, positioning system receiver device (e.g. a GPS receiver), orother fitness monitoring device.

Communication may also occur between the sensors, electronic device,and/or a remote server 604 via a network 602, for example, as shown inFIG. 5. In some embodiments, the network is the Internet. The Internetis a worldwide collection of servers, routers, switches, andtransmission lines that employ the Internet Protocol (TCP/IP) tocommunicate data. The network may also be employed for communicationbetween any two or more of the sensors, the electronic device, theserver, etc. In some embodiments of the present invention, informationis directly communicated between the sensors or processor and the servervia the network, thus bypassing the electronic device.

A variety of information may be communicated between any of thecomponents that may transmit or receive data or information. Suchinformation may include, for example, performance parameter data, devicesettings (including sensor settings), software, and firmware.

Communication among the various elements of the present invention mayoccur after the workout/athletic activity has been completed or insubstantially real-time during the workout/athletic activity.

The electronic device 400 may serve a variety of purposes including, forexample, providing additional data processing, providing instructions torobotic platform 100; providing additional data storage, providing datavisualization, providing additional sensor capabilities, relayinginformation to a network 602, providing for the playback of music orvideos, or the like.

The electronic device 400 illustrated in the figures may not be adedicated electronic monitoring device; the electronic device 400illustrated in the figures may be a mobile phone, dedicated fitnessmonitor, smart watch, tablet computer, etc. In alternate embodiments, itmay be possible for the sensor module 102 itself to be embodied by amobile phone, or for the electronic device 400 to be a mobile phone.Including an electronic device 400 in the robotic training system 10,such as a mobile phone, may be desirable as mobile phones are commonlycarried by individuals 500, even when engaging in athletic activities,and they are capable of providing significant additional computing andcommunication power at no additional cost to the individual 500.

In view of the above discussion, it is apparent that various processingsteps or other calculations recited herein may be capable of beingperformed by various embodiments of the robotic training system 10disclosed herein, and are not necessarily limited to being performed bythe sensor module 102, depending on the configuration of a particularembodiment of the present invention. For example, any of the processingsteps or other calculations recited herein may be performed, in variousembodiments, by the sensor module 102, by a server computer 604, by anelectronic device 400, and/or any other network component, or by morethan one component.

Embodiments of the present invention may involve the use of so-called“cloud computing.” Cloud computing may include the delivery of computingas a service rather than a product, whereby shared resources, software,and information are provided to computers and other devices as a utilityover a network (typically the Internet). Cloud computing may entrustservices (typically centralized) with an individual's 500 data, softwareand computation on a published application programming interface over anetwork. End users may access cloud-based applications through a webbrowser or a light weight desktop or mobile app while the businesssoftware and data are stored on servers at a remote location. Cloudapplication providers often strive to give the same or better serviceand performance than if the software programs were installed locally onend-user computers.

Embodiments of the present invention may incorporate features of motionand performance monitoring systems. Exemplary motion monitoring andperformance systems are disclosed in commonly owned U.S. patentapplication Ser. No. 13/077,494, filed Mar. 31, 2011 (which published asU.S. Patent App. Pub. No. 2012/0254934), and commonly owned U.S. patentapplication Ser. No. 13/797,361, filed Mar. 12, 2013 (which published asU.S. Patent App. Pub. No. 2014/0266160), the entirety of each beingincorporated herein by reference thereto.

An overview of exemplary embodiments of components of the robotictraining system 10 of the present invention, including exemplary sensormodules 102, has been provided above.

Turning to FIG. 7, a block diagram of components of a sensor module 102according to some embodiments of the present invention is shown. In theillustrated embodiment, the sensor module 102 may include processor 110(processor 110 may also be a separate component). Sensor module 102 mayinclude a power source 140, a memory 138, an acceleration sensor 142, amagnetic field sensor 146, and a transceiver 112 (transceiver 112 may bea separate component). These components are operatively connected to oneanother to carry out the functionality of the sensor module 102. Inother embodiments, one or more of these sensor module 102 components maybe omitted, or one or more additional components may be added. Processor110 may be included in sensor module 102, or may be a separatecomponent. Processor 110 may be adapted to implement applicationprograms stored in the memory 138 of the sensor module 102. Theprocessor 110 may also be capable of implementing analog or digitalsignal processing algorithms such as raw data reduction and filtering.For example, processor 110 may be configured to receive raw data fromsensors and process such data at the sensor module 102. The processor110 is operatively connected to the power source 140, the memory 138,the acceleration sensor 142, the magnetic field sensor 146, and thetransceiver 112.

In an embodiment, calibration of sensor module 102 is performed using,for example, received GPS signals from a position receiver 130. Thereceived GPS signals can be used, for example, to determine a distancethat an individual runs or walks during a workout. In other embodiments,calibration of sensor module 102 may be prepared by using a counter(e.g., additional sensor 148) to count revolutions of an axle of drivesystem 104, for example.

The power source 140 may be adapted to provide power to the sensormodule 102. In one embodiment, the power source 140 may be a battery.The power source may be built into the sensor module 102 or removablefrom the sensor module 102, and may be rechargeable or non-rechargeable.In some embodiments, the power source 140 may be recharged by a cableattached to a charging source, such as a universal serial bus (“USB”)FireWire, Ethernet, Thunderbolt, or headphone cable, attached to apersonal computer. In another embodiment, the power source 140 may berecharged by inductive charging, wherein an electromagnetic field isused to transfer energy from an inductive charger to the power source140 when the two are brought in close proximity, but need not be pluggedinto one another via a cable. In some embodiment, a docking station maybe used to facilitate charging. In other embodiments, the sensor module102 may be repowered by replacing one power source 140 with anotherpower source 140. Power source 140 may additionally power roboticplatform 100, including drive and steering systems 104/106.

The memory 138 may be adapted to store application program instructionsand to store athletic activity data. In some embodiments, the memory 138may store application programs used to implement aspects of thefunctionality of the retail enhancement system 10 described herein. Inone embodiment, the memory 138 may store raw data, recorded data, and/orcalculated data. In some embodiments, as explained in further detailbelow, the memory 138 may act as a data storage buffer. The memory 138may include both read only memory and random access memory, and mayfurther include memory cards or other removable storage devices.

In some embodiments of the present invention, the memory 138 may storeraw data, recorded data, and/or calculated data permanently, while inother embodiments the memory 138 may only store all or some datatemporarily, such as in a buffer. In one embodiment of the presentinvention, the memory 138, and/or a buffer related thereto, may storedata in memory locations of predetermined size such that only a certainquantity of data may be saved for a particular application of thepresent invention.

The acceleration sensor 116 may be adapted to measure the accelerationof the sensor module 102. Accordingly, when the sensor module 102 isphysically coupled to robotic platform 100, the acceleration sensor 116may be capable of measuring the acceleration of the object 104,including the acceleration due to the earth's gravitational field, andmay allow robotic platform to move with predetermined accelerationpatterns. In one embodiment, the acceleration sensor 116 may include atri-axial accelerometer that is capable of measuring acceleration inthree orthogonal directions. In other embodiments one, two, three, ormore separate accelerometers may be used.

The magnetic field sensor 146 may be adapted to measure the strength anddirection of magnetic fields in the vicinity of the sensor module 102.Accordingly, sensor module 102, utilizing the magnetic field sensor 146,may be capable of measuring the strength and direction of magneticfields in the vicinity of the robotic platform 100, including theearth's magnetic field. In one embodiment, the magnetic field sensor 146may be a vector magnetometer. In other embodiments, the magnetic fieldsensor 146 may be a tri-axial magnetometer that is capable of measuringthe magnitude and direction of a resultant magnetic vector for the totallocal magnetic field in three dimensions. In other embodiments one, two,three, or more separate magnetometers may be used.

In one embodiment of the present invention, the acceleration sensor 116and the magnetic field sensor 146 may be contained within a singleaccelerometer-magnetometer module bearing model number LSM303DLHC madeby STMicroelectronics of Geneva, Switzerland. In other embodiments, thesensor module 102 may include only one of the acceleration sensor 116and the magnetic field sensor 146, and may omit the other if desired.

The transceiver 122 depicted in FIG. 6 may enable the sensor module 102to wirelessly communicate with other components of the robotic trainingsystem 10, such as those described in further detail below. In oneembodiment, the sensor module 102 and the other local components of therobotic training system 10 may communicate over a personal area networkor local area network using, for example, one or more of the followingprotocols: ANT, ANT+ by Dynastream Innovations, Bluetooth, Bluetooth LowEnergy Technology, BlueRobin, or suitable wireless personal or localarea network protocols. Other known communication protocols suitable fora robotic training system 10 may also be used.

In one embodiment, the transceiver 122 is a low-power transceiver. Insome embodiments, the transceiver 122 may be a two-way communicationtransceiver 122, while in other embodiments the transceiver 122 may be aone-way transmitter or a one-way receiver. Wireless communicationbetween the sensor module 102 and other components of the robotictraining system 10 is described in further detail below. In otherembodiments, the sensor module 102 may be in wired communication withother components of the robotic training system 10 that does not rely ontransceiver 122.

In some embodiments of the present invention, a sensor module 102 havingcomponents such as those depicted in FIG. 6 may be physically coupled torobotic platform 100 during an athletic activity conducted by anindividual 500. Sensor module 102 may further monitor changes in thespatial orientation of the individual's 500 body or a piece of theindividual's athletic equipment or article of footwear, or to determinea correlation between body or equipment movement data and acharacteristic such as gait characteristic. In some embodiments, sensormodule 102, as described, may be used to monitor the surface of a track,for example, to follow chalk/paint line 302. In some embodiments,additional sensors 148 not coupled to robotic platform 100 (e.g., otheracceleration sensors, physiological sensors, etc.) may be responsiblefor collecting the data necessary to carry out the various monitoringcalculations.

In some other embodiments, however, it may be desirable to haveadditional sensors 148 (for example, such as speed sensors, etc.)included within the sensor module 102, or operatively connected tosensor module 102, or to have additional sensors 148 in communicationwith the sensor module 102. In some embodiments, an additional sensormodule 102 may be integrated within an existing piece of athleticactivity monitoring equipment possibly having additional or differentsensors such as, for example, a heart rate monitoring device, apedometer, and accelerometer-based monitoring device, or other fitnessmonitoring device.

In addition to the acceleration sensor 116 and the magnetic field sensor146, other sensors that may be part of the sensor module 102 or separatefrom but in communication with the sensor module 102 may include sensorscapable of measuring a variety of athletic performance parameters. Theterm “performance parameters” may include physical parameters and/orphysiological parameters associated with the individual's 500 athleticactivity. Physical parameters measured may include, but are not limitedto, time, distance, speed, pace, pedal count, wheel rotation count,rotation generally, stride count, stride length, airtime, stride rate,altitude, strain, impact force, jump force, force generally, and jumpheight. Physiological parameters measured may include, but are notlimited to, heart rate, respiration rate, blood oxygen level, bloodlactate level, blood flow, hydration level, calories burned, or bodytemperature.

As shown in FIG. 7, in some embodiments, sensor module 102 mayincorporate other additional components. In some embodiments, sensormodule 102 may incorporate an angular momentum sensor 124, a heart ratesensor 126, a temperature sensor 128, a position receiver 130, a dataport 132, and a timer 134 operatively connected to one another to carryout the functionality of the sensor module 102. In other embodiments,one or more of these sensor module 102 components may be omitted, or oneor more additional components may be added.

In some embodiments, the transceiver 122 may be a two-way communicationtransceiver 122, while in other embodiments the transceiver 122 may be aone-way transmitter or a one-way receiver.

The user interface 136 of the sensor module 102 may be used by theindividual 500 to interact with the sensor module 102. In someembodiments, the user interface 136 may include one or more inputbuttons, switches, or keys, including virtual buttons, switches, or keysof a graphical user interface touch screen surface. The function of eachof these buttons, switches, or keys may be determined based on anoperating mode of the sensor module 102. In one embodiment, the userinterface 136 may include a touch pad, scroll pad and/or touch screen.In another embodiment, the user interface 136 may include capacitanceswitches. In a further embodiment, the user interface 136 may includevoice-activated controls.

In some embodiments, however, the sensor module 102 may not include auser interface 136. In these embodiments, the sensor module 102 may becapable of communicating with other components of the robotic trainingsystem 10 which may themselves include user interfaces, for example,electronic device 400.

The angular momentum sensor 124, which may be, for example, a gyroscope,may be adapted to measure the angular momentum or orientation of thesensor module 102. Accordingly, when the sensor module 102 is physicallycoupled to robotic platform 100, the angular momentum sensor 124 may becapable of measuring the angular momentum or orientation of the object104. In one embodiment, the angular momentum sensor 124 may be atri-axial gyroscope that is capable of measuring angular rotation aboutthree orthogonal axes. In other embodiments one, two, three, or moreseparate gyroscopes may be used. In some embodiments, the angularmomentum sensor 124 may be used to calibrate measurements made by one ormore of the acceleration sensor 116 and the magnetic field sensor 146.This may be particularly advantageous for an aerial robotic platform100.

The heart rate sensor 125 may be adapted to measure an individual's 500heart rate. The heart rate sensor 125 may be placed in contact with theindividual's 500 skin, such as the skin of the individual's chest, andsecured with a strap. The heart rate sensor 125 may be capable ofreading the electrical activity the individual's 500 heart.

The temperature sensor 128 may be, for example, a thermometer, athermistor, or a thermocouple that measures changes in the temperature.In some embodiments, the temperature sensor 128 may primarily be usedfor calibration other sensors of the robotic training system 10, forexample, the acceleration sensor 116 and the magnetic field sensor 146.

In one embodiment, the position receiver 130 may be an electronicsatellite position receiver that is capable of determining its location(i.e., longitude, latitude, and altitude) using time signals transmittedalong a line-of-sight by radio from satellite position systemsatellites. Known satellite position systems include the GPS system, theGalileo system, the BeiDou system, and the GLONASS system. In anotherembodiment, the position receiver 130 may be an antenna that is capableof communicating with local or remote base stations or radiotransmission transceivers such that the location of the sensor module102 may be determined using radio signal triangulation or other similarprinciples. In some embodiments, position receiver 130 data may allowthe sensor module 102 to detect information that may be used to measureand/or calculate position waypoints, time, location, distance traveled,speed, pace, or altitude.

The data port 132 may facilitate information transfer to and from thesensor module 102 and may be, for example, a USB port. In some exemplaryembodiments, data port 132 can additionally or alternatively facilitatepower transfer to a power source, in order to a charge power source.

The timer 134 may be a clock that is capable of tracking absolute timeand/or determining elapsed time. In some embodiments, the timer 134 maybe used to timestamp certain data records, such that the time thatcertain data was measured or recorded may be determined and varioustimestamps of various pieces of data may be correlated with one another.

In some embodiments, the sensor module 102 may also include a buttonand/or a display. The button may serve as the user interface of thesensor module 102. The button may be capable of turning the sensormodule 102 on and off, toggling through various display options, orserving a variety of other functions. Alternatively, multiple buttons orno buttons may be provided. In one embodiment, the display may be arelatively simple LED display that is capable of conveying the status orbattery life of the sensor module 102 to an individual 500 withdifferent color combinations or flashing patterns, for example. Inanother embodiment, the display may be a more advanced display that iscapable of displaying performance parameter information, feedback, orother information to the individual 500, such as a segmented LCDdisplay. Alternatively, no button or display may be provided.

In other embodiments, the sensor module 102 may include audio controlssuch as a speaker and/or microphone for audio communication with anindividual 500. These components may serve as the user interface of thesensor module 102, and may be included in audio input system 120. Theseaudio controls may be capable of turning the sensor module 102 on andoff, toggling through various display options, or serving a variety ofother functions. In one embodiment, the audio controls may be capable ofconveying the status or battery life of the sensor module 102 to anindividual 500. In another embodiment, the audio controls may be capableof outputting or receiving performance parameter information, feedback,or other information to and from the individual 500. In one embodiment,the audio controls may be capable of accepting voice commands form theindividual 500. In another embodiment, the sensor module 102 may becapable of relaying audio information to an individual wirelessly viaanother device, such as a pair of headphones. Alternatively, audiocontrols may be provided.

Data obtained by the sensor module 102 may be processed in a variety ofways to yield useful information about the motion of an object 104 ofinterest during the activity. In some embodiments, sensor module 102data may be processed to monitor changes in the spatial orientation ofthe individual's 500 body or a piece of the individual's 500 athleticequipment. In other embodiment, sensor module 102 data may be processedto by reference to a predetermined correlation between movement data anda characteristic stored in a data structure.

In some embodiments, sensor modules 102 are used to detect changes in anindividual's direction of motion. Sensor modules 102 according to thepresent invention can also be worn by individuals and used to detectand/or track other motions such as, for example, motions associated withpush-ups, pull-ups, weightlifting, diving, gymnastics, et cetera.

Turning to FIG. 8, a block diagram of electronic device 400 according toan embodiment of the present invention is shown. In an embodiment,electronic device 400 corresponds to a mobile computing device, mobilephone, desktop computer, tablet computer, dedicated electronic device,or the like. As shown in FIG. 7, electronic device 400 may include aprocessor 402, memory 406, a user input control 408, a display 410, anaudio unit 416, a transceiver 404, a cellular transceiver 414, anoptional satellite-based positioning system receiver 412, a camera 418,and a battery 420.

Processor 402 is a processor capable of implementing applicationprograms or software platforms 1000 stored in memory 406. Processor 402is also capable of implementing digital signal processing algorithms.Processor 402 is coupled to memory 304, user input control 408, display410, audio unit 416, transceiver 404, and may include a cellulartransceiver 414.

Memory 406 is used to store application program instructions (e.g.,software platform 1000) and data. In an embodiment, memory 406 storesprograms, for example, used to implement all of the functionality of atypical electronic device. In an embodiment, memory 406 includes bothread only memory and random access memory.

User input control 408 is used by an individual to interact withelectronic device 400. In an embodiment, user input control 408 includesa variety of input buttons and/or keys. The function of each of thesebuttons and/or keys is typically determined based on an operating modeof electronic device 400. In one embodiment, user input control 408includes a touch pad or scroll pad and/or touch screen buttons.

Display 410 is used to display information to an individual. In anembodiment, display 410 is a liquid crystal display.

Camera 418 is a small digital camera used to take digital photos orvideo. In one embodiment, camera 418 is a CCD camera. In anotherembodiment, camera 418 is a CMOS camera.

Audio unit 416 is used to process audio signals. In an embodiment, voicesignals picked up using a microphone are converted to digital signals sothat they can be operated upon, for example, by processor 402. Audiounit 416 also converts, for example, digital audio signals intoamplified analog audio signals that can be used to drive one or morespeakers. In an embodiment, audio unit 416 implements signal processingalgorithms such as those available from Dolby Laboratories, Inc., whichenhance the quality of music.

Transceiver 404 is a low-power transceiver used to communicate withother components of robotic training system 10. In an embodiment,transceiver 404 operates in an unlicensed frequency band such as 2.4GHz. Transceiver 404 is coupled to an antenna 314. As used herein, theterm transceiver means a combination of a transmitter and a receiver. Inan embodiment, the transmitter and the receiver are integrated and form,for example, a part of an intergraded circuit.

Cellular transceiver 414 may be used to send and receive, for example,voice cellular telephone signals. Transceiver 414 can also be used toexchange information with a computer network such as, for example, theInternet. Cellular transceiver 414 is coupled to an antenna 422. As usedherein, the term cellular transceiver means a combination of a cellulartransmitter and a cellular receiver. In an embodiment, the transmitterand the receiver are integrated together into a single device.

In one embodiment, cellular transceiver 414 is used to send datadescribed herein to a location where it is analyzed, for example, by aprofessional trainer. The professional trainer can call or text messagethe individual and provide the individual substantially real-timefeedback based on the data. If the individual wants to call theprofessional trainer, for example, during a workout, the individual canplace a call to the professional trainer, for example, by tappingelectronic device 400 to place a call to a stored telephone number. Inone embodiment, tapping electronic device 400 sends a text message tothe professional trainer requesting that the professional trainer callthe individual. These functions may also be included in sensor module102.

Battery 420 is used to provide power to operate the various componentsof electronic device 400. In an embodiment, battery 420 is rechargedperiodically using a power adapter that plugs into a typical householdpower outlet. Battery 420 can also be a non-rechargeable battery.

In an embodiment, electronic device 400 also includes an optionalsatellite-based positioning system (e.g., global positioning system(GPS) or Galileo system) receiver 412. This enables the electronicdevice to determine its location anywhere on the earth. Thesatellite-based positioning system (e.g., GPS) receiver 412 is coupledto an antenna 424. In an embodiment, GPS receiver 412 enables theelectronic device 400, for example, to provide navigational instructionsto a runner using the device. The directions for a running route can bedownloaded to the electronic device prior to a run and stored in memory406. In addition to navigational instructions, attributes about therunning route such as, for example, whether the route has sidewalks, ison a trail, is located within a safe neighborhood, et cetera, can alsobe downloaded and viewed. GPS receiver 412 can be used, in anembodiment, to track a route run by a runner. The route can be saved inmemory 304 and viewed by the runner after the run. The route can also beshared with other runners, for example, by posting the route on acomputer/web server for down-loading by other runners.

In an embodiment, GPS receiver 412 and information stored in the memoryof electronic device 400 (or information received, e.g., from theinternet using cellular transceiver 414) are used to providenavigational instructions, for example, to a runner. In an embodiment,the runner can enter into electronic device 400 that he or she wouldlike to run five kilometers, for example, and the electronic device willautomatically select/map-out an appropriate route and provide navigationinstructions to the runner during the run. In an embodiment, the runnercan specify both a start point and a stop point for the run. In anembodiment, only one point is specified, which serves as both the startpoint and the stop point. In an embodiment, the start and stop pointsare the point at which the runner is standing (e.g., as determined byGPS receiver 412) when the runner enters, for example, that he or shewould like to run five kilometers.

In an embodiment, electronic device 400 includes a radio. The radio canbe an AM only radio, an FM only radio, or both an AM and FM radio. In anembodiment, the radio is controlled using soft keys presented to anindividual on display 410.

In one embodiment, electronic device 400 includes optional sensors (notshown) for detecting selected weather related data such as, for example,temperature, humidity, ultra-violet radiation, and/or barometricpressure. This data can be used, for example, to determine how anindividual's performance is effected by environmental factors.

In one embodiment, an electronic device according to the presentinvention does not include a display. In this embodiment, informationsuch as, for example, performance and/or feedback information isprovided to an individual audibly during a workout, e.g., through sensormodule 102, or other audio feedback. The information can be display tothe individual, for example, after the workout using a computer displayonce the information has been transferred to the computer. In anembodiment, the information can be transferred to a second processingdevice such as, for example, a sports watch during the workout anddisplayed to the individual during the workout on the display of thesecond processing device.

In embodiments, an electronic device 400 according to the presentinvention can be formed, for example, by attaching a dongle (e.g., asmall hardware device that protects software) to a conventional phone, amusic file player, a personal digital assistant, et cetera. The dongleincludes, for example, downloadable software that implements some or allof the sport functions described herein. In an embodiment, the softwareincludes a sport user interface written in the Java programminglanguage. In an embodiment, the software includes drivers, for example,that enable the software to be used with any ultra low power Bluetoothcommunications protocol compatible device. Other embodiments arecompatible with other communications protocol compatible devices.

In an embodiment of the present invention, a electronic device accordingto the present invention is a dedicated device (rather than a devicesuch as, for example, a phone, a music file player, or a personaldigital assistant) that implements the robotic training functions asdetailed herein.

In some embodiments, the sensor module 102 may then determine that themovement of an individual 500 indicates the occurrence of a movement totrack. In one embodiment, the determination that the movement of theindividual 500 indicates the occurrence of a movement to track occurswhen a threshold data value is met for a predetermined period of time.For example, the sensor module 102 may determine that a movement of theindividual has resulted in a threshold acceleration occurring for apredetermined period of time. This may initiate movement of the roboticplatform 100.

In some embodiments, remote processing may be used to augment theprocessing discussed herein. The remote processing may enable a sensormodule 102 to wirelessly transmit data to a remote computer forprocessing. Wireless communication with other elements of the robotictraining system 10 is generally described above. In this way, theprocessing capabilities of the robotic training system 10 may beenhanced by shifting certain processing and analytical tasks to aremotely located computer, such as a server computer, with greatercomputational abilities and, in some embodiments, access to additionaldata, or other resources.

In some embodiments, the data received may be transmitted to the remotecomputer during the athletic activity. In another embodiment, the datareceived may be transmitted to the remote computer after the athleticactivity has been completed.

In some embodiments, the physiological data received may be compared todata associated with the individual 500 for the present athleticactivity and data associated with the individual 500 from a previousathletic activity. In some embodiments, the data may be compared to datareceived during a different individual's 500 athletic activity.

By using the robotic training system 10 including the sensor module 102described above, embodiments of the present invention may advantageouslyenable the individual 500 (or their coach, teammate, a spectator,friends, competitors, etc.) to obtain this or other information aboutthe motion of the individual's 500 body or the motion of a piece of theindividual's 500 athletic equipment during or after the course of theathletic activity.

While various embodiments of the present invention are described in thecontext of the running, the present invention is not so limited and maybe applied in a variety of different sports or athletic activitiesincluding, for example, sports of soccer (i.e., football), basketballbaseball, bowling, boxing, cricket, cycling, football (i.e., Americanfootball), golf, hockey, lacrosse, rowing, rugby, running,skateboarding, skiing, surfing, swimming, table tennis, tennis, orvolleyball, or during training sessions related thereto.

For running, sensor module 102 embodiments such as those described abovemay enable an individual 500, to determine, for example, characteristicsof a runner's motion. For example, a sensor module 102 could be used todetermine the speed, pace, distance traversed, locations traversed, orto discriminate between different surfaces (e.g., grass, street, ortrail) and inclinations (e.g., uphill, flat, or downhill). In someembodiments the sensor module 102 may be mounted, for example, on arunner's torso, arm, hand, leg, foot, or head, or on or in their articleof footwear, or integrated into robotic platform 100

In some embodiments of the present invention, the sensor module 102 maybe capable of compensating for inherent deficiencies that may be presentfor various types of sensor contained within or in communication withthe sensor module 102. Most real world sensors have limitations. Forexample, accelerometers, magnetometers, and gyroscopes may have accuracyissues, particularly when used at speeds of motion of the object 104 orunder other conditions that differ from their initial calibrationconditions.

In some embodiments of the present invention, the sensor module 102 maycommunicate with other components of the robotic training system 10 viawired or wireless technologies. Communication between the sensor module102 and other components of the robotic training system 10 may bedesirable for a variety of reasons. For example, to the extent that thesensor module 102 records and stores athletic activity information, itmay be useful to transmit this information to another electronic devicefor additional data processing, data visualization, sharing with others,comparison to previously recorded athletic activity information, or avariety of other purposes. As a further example, to the extent that thesensor module 102 has insufficient processing power, wide area networktransmission capabilities, sensor capabilities, or other capabilities,these capabilities can be provided by other components of the robotictraining system 10. With this in mind, possible communications means aredescribed briefly below.

Wired communication between the sensor module 102 and an electronicdevice 400 may be achieved, for example, by placing the sensor module102—or a piece of athletic equipment including the sensor module 102—ina docking unit that is attached to the electronic device 400 using acommunications wire plugged into a communications port of the electronicdevice 400. In another embodiment, wired communication between thesensor module 102 and the electronic device 400 may be achieved, forexample, by connecting a cable between the sensor module 102—or a pieceof athletic equipment including the sensor module 102—and the computeror standalone device 600. The data port 132 of the sensor module 102 anda communications port of the computer 600 may include USB ports. Thecable connecting the sensor module 102 and the computer 600 may be a USBcable with suitable USB plugs including, but not limited to, USB-A orUSB-B regular, mini, or micro plugs, or other suitable cable such as,for example, a FireWire, Ethernet or Thunderbolt cable. As previouslyexplained above, in some embodiments, such cables could be used tofacilitate power transfer to a power source of the sensor module 102, inorder to charge the power source. Alternatively, the power source may berecharged by inductive charging, or by using a docking station with acharging base.

Wired connection to an electronic device 400 may be useful, for example,to upload athletic activity information from the sensor module 102 tothe electronic device 400, or to download application software updatesor settings from the electronic device 400 to the sensor module 102.

Wireless communication between the sensor module 102—or a piece ofathletic equipment including the sensor module 102—and the electronicdevice 400 may be achieved, for example, by way of a wireless wide areanetwork (such as, for example, the Internet), a wireless local areanetwork, or a wireless personal area network. As is well known to thoseskilled in the art, there are a number of known standard and proprietaryprotocols that are suitable for implementing wireless area networks(e.g., TCP/IP, IEEE 802.16, Bluetooth, Bluetooth low energy, ANT, ANT+by Dynastream Innovations, or BlueRobin). Accordingly, embodiments ofthe present invention are not limited to using any particular protocolto communicate between the sensor module 102 and the various elements ofthe retail enhancement system 10 of the present invention.

In one embodiment, the sensor module 102—or a piece of athleticequipment including the sensor module 102—may communicate with awireless wide area network communications system such as that employedby mobile telephones. For example, a wireless wide area networkcommunication system may include a plurality of geographicallydistributed communication towers and base station systems. Communicationtowers may include one or more antennae supporting long-range two-wayradio frequency communication wireless devices, such as sensor module102. The radio frequency communication between antennae and the sensormodule 102 may utilize radio frequency signals conforming to any knownor future developed wireless protocol, for example, CDMA, GSM, EDGE, 3G,4G, IEEE 802.x (e.g., IEEE 802.16 (WiMAX)), etc. The informationtransmitted over-the-air by the base station systems and the cellularcommunication towers to the sensor module 102 may be further transmittedto or received from one or more additional circuit-switched orpacket-switched communication networks, including, for example, theInternet.

As previously noted, in some embodiments of the present invention,sensor module 102 may communicate with an electronic device, such as asmart phone, that is also carried by the individual 500 during theathletic activity.

In some embodiments of the present invention, for example, as shown inFIG. 7, the electronic device 400 may take the form of a mobile phoneand may include at least a processor, a memory, user input controls, apositioning system receiver, a wireless wide area network (WWAN)transceiver, a visual display, and an audio unit. A visual display inthe form of a LCD screen, and user input controls in the form of aphysical keyboard and a scroll ball may be present.

The memory of the electronic device 400 may be adapted to storeapplication programs, software platforms or modules, used to implementaspects of the functionality of the robotic training system 10 describedherein. Alternatively, those of skill in the art will understand thatall or part of the software may be stored on the server 604 and accessedover the network 602 and run remotely as a mobile web application, orstored locally in robotic platform 100, having a memory.

As discussed, robotic training system 10 may include a number ofdifferent software modules capable of providing training support orother robotic platform 100 interaction to individuals 500. Each modulemay support one or more graphical user interfaces (“GUIs”) capable ofbeing presented to an individual 500 using the system 10.

A GUI may offer, for example, graphical elements, visual indicators,and/or text to represent information and actions available to theindividual 500. The individual 500 may use a physical input device, suchas keyboard or scroll ball to interact with the GUI of the system 10,for example, on electronic device 400. Alternatively, the individual 500may use a touch screen to interact directly with what is displayed.Various touch screens such as, for example, resistive or capacitivetouch screens, may be employed.

Those skilled in the art will appreciate that alternative or additionalsoftware modules and sub-modules may be implemented in order to provideor extend the described or additional functionalities to the individual500 using the electronic device 400. For example, the softwareconfiguration of software stored on an electronic device 400 may includea device operating system, which may be one of the commerciallyavailable mobile phone operating systems such as, for example,BlackBerry OS, iPhone OS, Windows Mobile, Symbian, LINUX, WebOS, orAndroid. The device operating system may also have an associatedapplication programming interface through which middleware andapplication programs may access the services of the operating system.

The various modules of the system 10 of the present invention maysupport GUIs through which an individual 500 can interact with thesystem 10 using the electronic device 400 just prior to and/or during anactivity. As will be appreciated by those of skill in the art, in oneembodiment the GUIs may be supported by a mobile device applicationbeing run on the electronic device 400. In another embodiment, the GUIsmay appear as web pages provided by the server 604 via a website thatmay be accessible to the individual 500 over the network 602 using a webbrowser on their electronic device 400. The GUIs may be considered to bepart of the methods or systems of the present invention.

In some embodiments, the robotic training system 10 may be sold as apackage, including a robotic platform 100, an electronic device 400,sensor modules 102 for multiple individuals 500 (e.g. runners), and acharger.

Robotic training system 10 may recognize and record repeat usage of therobotic training system 10 over time, number of times variousindividuals store their data into a profile and update that data. Therobotic training system 10 may also be able to integrate with varioussocial media platforms, allowing individuals to share with their socialnetwork data regarding their gait characteristics, their usage of therobotic training system 10.

Various aspects of the present invention, or any parts or functionsthereof, may be implemented using hardware, software, firmware, tangiblenon-transitory computer readable or computer usable storage media havinginstructions stored thereon, or a combination thereof and may beimplemented in one or more computer systems or other processing systems.

As discussed, program products, methods, and systems for providingrobotic training services of the present invention can include anysoftware application executed by one or more electronic devices 400. Anelectronic device 400 can be any type of computing device having one ormore processors. For example, the electronic device 400 can be aworkstation, mobile device (e.g., a mobile phone, personal digitalassistant, tablet computer, or laptop), computer, server, computecluster, server farm, game console, set-top box, kiosk, embedded system,a gym machine, a retail system or retail enhancement system or otherdevice having at least one processor and memory. Embodiments of thepresent invention may be software executed by a processor, firmware,hardware or any combination thereof in a computing device.

In this document, terms such as “computer program medium” and“computer-usable medium” may be used to generally refer to media such asa removable storage unit or a hard disk installed in hard disk drive.Computer program medium and computer-usable medium may also refer tomemories, such as a main memory or a secondary memory, which can bememory semiconductors (e.g., DRAMs, etc.). These computer programproducts provide software to computer systems of the present invention.

Software platform may include or accept computer programs (also calledcomputer control logic, programming data, etc.), which may be stored onmain memory and/or secondary memory. Computer programs may also bereceived via a communications interface. Such computer programs, whenexecuted, may enable computer systems of the present invention toimplement embodiments described herein. Where embodiments areimplemented using software, the software can be stored on a computerprogram product and loaded into a computer system using, for example, aremovable storage drive, an interface, a hard drive, and/orcommunications interface.

Based on the description herein, a person skilled in the relevant artwill recognize that the computer programs, when executed, can enable oneor more processors to implement processes described above, such as thesteps in the methods illustrated by the figures. In some embodiments,the one or more processors can be part of a computing deviceincorporated in a clustered computing environment or server farm.Further, in some embodiments, the computing process performed by theclustered computing environment may be carried out across multipleprocessors located at the same or different locations.

Software of the present invention may be stored on any computer-usablemedium. Such software, when executed in one or more data processingdevice, causes the data processing device to operate as describedherein. Embodiments of the invention employ any computer-usable or-readable medium, known now or in the future. Examples ofcomputer-usable mediums include, but are not limited to, primary storagedevices (e.g., any type of random access or read only memory), secondarystorage devices (e.g., hard drives, floppy disks, CD ROMS, ZIP disks,tapes, magnetic storage devices, optical storage devices, MEMS,nanotechnological storage devices, memory cards or other removablestorage devices, etc.), and communication mediums (e.g., wired andwireless communications networks, local area networks, wide areanetworks, intranets, etc.).

Embodiments have been described above with the aid of functionalbuilding blocks illustrating the implementation of specified functionsand relationships thereof. The boundaries of these functional buildingblocks have been arbitrarily defined herein for the convenience of thedescription. Alternate boundaries can be defined so long as thespecified functions and relationships thereof are appropriatelyperformed.

The foregoing description of the specific embodiments of the robotictraining system described with reference to the figures will so fullyreveal the general nature of the invention that others can, by applyingknowledge within the skill of the art, readily modify and/or adapt forvarious applications such specific embodiments, without undueexperimentation, without departing from the general concept of thepresent invention.

While various embodiments of the present invention have been describedabove, they have been presented by way of example only, and notlimitation. It should be apparent that adaptations and modifications areintended to be within the meaning and range of equivalents of thedisclosed embodiments, based on the teaching and guidance presentedherein. It therefore will be apparent to one skilled in the art thatvarious changes in form and detail can be made to the embodimentsdisclosed herein without departing from the spirit and scope of thepresent invention. The elements of the embodiments presented above arenot necessarily mutually exclusive, but may be interchanged to meetvarious needs as would be appreciated by one of skill in the art.

It is to be understood that the phraseology or terminology used hereinis for the purpose of description and not of limitation. The breadth andscope of the present invention should not be limited by any of theabove-described exemplary embodiments, but should be defined only inaccordance with the following claims and their equivalents.

It is to be appreciated that the Detailed Description section, and notthe Summary and Abstract sections, is intended to be used to interpretthe claims. The Summary and Abstract sections may set forth one or morebut not all exemplary embodiments of the present invention ascontemplated by the inventor(s), and thus, are not intended to limit thepresent invention and the appended claims in any way.

The present invention has been described above with the aid offunctional building blocks illustrating the implementation of specifiedfunctions and relationships thereof. The boundaries of these functionalbuilding blocks have been arbitrarily defined herein for the convenienceof the description. Alternate boundaries can be defined so long as thespecified functions and relationships thereof are appropriatelyperformed.

The foregoing description of the specific embodiments will so fullyreveal the general nature of the invention that others can, by applyingknowledge within the skill of the art, readily modify and/or adapt forvarious applications such specific embodiments, without undueexperimentation, without departing from the general concept of thepresent invention. Therefore, such adaptations and modifications areintended to be within the meaning and range of equivalents of thedisclosed embodiments, based on the teaching and guidance presentedherein. It is to be understood that the phraseology or terminologyherein is for the purpose of description and not of limitation, suchthat the terminology or phraseology of the present specification is tobe interpreted by the skilled artisan in light of the teachings andguidance.

The breadth and scope of the present invention should not be limited byany of the above-described exemplary embodiments, but should be definedonly in accordance with the following claims and their equivalents.

The claims in the instant application are different than those of theparent application or other related applications. The Applicanttherefore rescinds any disclaimer of claim scope made in the parentapplication or any predecessor application in relation to the instantapplication. The Examiner is therefore advised that any such previousdisclaimer and the cited references that it was made to avoid, may needto be revisited. Further, the Examiner is also reminded that anydisclaimer made in the instant application should not be read into oragainst the parent application.

1. A robotic athletic training system for assisting an individual duringan athletic activity in an environment, comprising: a mobile roboticplatform; a sensor module including an array of sensors coupled to themobile robotic platform and configured to obtain data from theenvironment; a drive system configured to propel the mobile roboticplatform; a steering system configured to steer the mobile roboticplatform; a processor configured to receive data from the sensor moduleand to control one of the drive system and the steering system to followa path based on the data, wherein the data comprises surface datarelated to variation of a surface of the environment; and a video cameraconfigured to record video data of the individual during the athleticactivity and to transmit the video data to the processor, wherein theprocessor is configured to analyze a physiological characteristic of theindividual based on the video data.
 2. The system of claim 1, whereinthe video camera is further configured to record video data of thesurface.
 3. The system of claim 1, wherein the video camera is furtherconfigured to record video data of the environment.
 4. The system ofclaim 1, further comprising: a wireless transceiver configured forcommunication with an electronic device associated with the individual,wherein the transceiver is configured to receive data from theelectronic device and to transmit the electronic device data to theprocessor, wherein the processor is further configured to control one ofthe drive system and the steering system based on the electronic devicedata, and wherein the electronic device is configured to display videodata from the processor.
 5. The system of claim 1, wherein the processoris configured to provide coaching to the individual in response to avariation in the physiological characteristic.
 6. The system of claim 1,wherein the physiological characteristic is a gait characteristic. Thesystem of claim 1, wherein the physiological characteristic comprisesone of fatigue and perspiration level.
 8. The system of claim 1, furthercomprising: a display system configured to provide information about aworkout program to the individual during the athletic activity.
 9. Arobotic athletic training system for assisting an individual during anathletic activity in an environment, comprising: a mobile roboticplatform; a sensor module; a drive system configured to propel themobile robotic platform; a steering system configured to steer themobile robotic platform; a processor configured to receive data from thesensor module and to control one of the drive system and the steeringsystem to follow a path based on the data; and a video camera configuredto record video data of a path ahead of the individual during theathletic activity and to transmit the video data to the processor,wherein the processor is configured to analyze a route traversed by theindividual based on the video data.
 10. The system of claim 9, whereinthe video camera is further configured to record first person-style viewvideo data of the route traversed.
 11. The system of claim 9, whereinthe video camera is further configured to pan around the environment torecord video data of the environment.
 12. The system of claim 11,wherein the video camera is further configured to pan via control by atleast one of the individual or a third party.
 13. The system of claim 9,wherein the mobile robotic platform is land based.
 14. The system ofclaim 9, wherein the mobile robotic platform is aerial based.
 15. Thesystem of claim 9, wherein the mobile robotic platform is configured towork with a second mobile robotic platform.
 16. The system of claim 15,wherein the position of the second mobile robotic platform is based uponposition of the mobile robotic platform.
 17. A method of assisting anindividual during an athletic activity in an environment using a roboticathletic training system, comprising: controlling the robotic athletictraining system to move the robotic athletic training system; receivingvideo data of a path ahead of the individual during the athleticactivity from a video camera of the robotic athletic training system;analyzing the path based on the video data of the path; and displayinginformation on the path related to the athletic activity.
 18. The methodof claim 17, further comprising: providing coaching feedback to theindividual during the athletic activity.
 19. The method of claim 18,further comprising: the robotic athletic training system communicatingwith a second robotic athletic training system, wherein the the roboticathletic training system is land based, and wherein the second roboticathletic training system is aerial based.
 20. The method of claim 19,wherein the second the robotic athletic training system records videodata of the environment.